技术领域technical field
本发明涉及地质资源与地质工程探测领域，尤其是涉及一种蠕动钻地机器人。The invention relates to the fields of geological resources and geological engineering detection, in particular to a peristaltic earth-drilling robot.
背景技术Background technique
目前，地质勘探、矿难搜索救援等作业，往往在地面搭设大型开挖设备，往往具有费时、能耗大、成本高和受地面环境条件限制等缺点，因此实际应用效果并不理想。钻地机器人由于其体积小、功耗低、运动灵活等特点，很适合承担地下施工、救援等任务，已成为近年来国内外研究的热点。At present, large-scale excavation equipment is often set up on the ground for operations such as geological exploration and mine disaster search and rescue, which often have the disadvantages of time-consuming, high energy consumption, high cost, and limited by ground environmental conditions, so the actual application effect is not ideal. Due to its small size, low power consumption, and flexible movement, the earth-boring robot is very suitable for undertaking tasks such as underground construction and rescue, and has become a research hotspot at home and abroad in recent years.
此前国内已经研制出用于地下铺管的非开挖“穿地龙”特种作业机器人和用于海底沉船打捞的拱泥机器人，此类机器人动力源一般为液动或气动，结构上都采用往复冲击挤压泥土前进，具有能耗高、控制系统复杂等缺点。西北工业大学设计出一种土质环境下仿蚯蚓拱洞机器人，具有三个可轴向伸缩和径向胀缩的体节，模仿蚯蚓蠕动爬行方式钻进，然而这种机器人还处于理论研究和虚拟模拟阶段，距离实用化还有较大差距。日本开发了一种用于地质勘测的小型钻掘机器人“DigBot”，该机器人采用“双重反转钻头”的设计，用来消除钻进过程中泥土的阻力矩，机器人后部采用电磁螺线管提供机器人前进推力，但是这种方法提供的推力有限，而且不具备转向功能。美国研制出一种自推进深孔钻进设备“IDDS”，分为前后两节，采用仿尺蠖运动方式前进，用于地外行星探测也可用于地球上进行地下钻进，但是该机器人结构复杂，制造成本昂贵，不适合大批量生产应用。虽然钻地机器人在国内外研究多年，但由于地下土壤环境复杂，对机器人的性能要求高，很多钻地机器人还处于实验室研究阶段。Previously, the non-excavation "earth-piercing dragon" special operation robot for underground pipe laying and the arching mud robot for salvage of sunken ships have been developed in China. The power source of such robots is generally hydraulic or pneumatic, and the structure adopts reciprocating The impact squeezes the soil forward, which has the disadvantages of high energy consumption and complicated control system. Northwestern Polytechnical University has designed a robot that imitates an earthworm arch hole in a soil environment. It has three body segments that can expand and contract axially and radially. In the simulation stage, there is still a big gap from practical application. Japan has developed a small drilling robot "DigBot" for geological survey. The robot adopts the design of "double reversed drill bit" to eliminate the resistance moment of the soil during the drilling process. The rear part of the robot uses an electromagnetic solenoid. Provides forward thrust to the robot, but this approach provides limited thrust and no steering capability. The United States has developed a self-propelled deep-hole drilling device "IDDS", which is divided into two sections, the front and rear, and adopts the motion of an inchworm to advance. It can be used for extraterrestrial planetary exploration and can also be used for underground drilling on the earth, but the structure of the robot is complicated. , are expensive to manufacture and are not suitable for mass production applications. Although earth-drilling robots have been studied at home and abroad for many years, due to the complex underground soil environment and high performance requirements for robots, many earth-drilling robots are still in the laboratory research stage.
中国专利CN 203601545U一种双螺旋叶片拱泥机器人，它由：前后拱泥体、左右旋螺旋叶片、第一二平键、第一二液压马达、前后节板、姿态调整机构构成。右旋螺旋叶片固定在前拱泥体上，第一液压马达一端与前拱泥体相连接，另一端固定在前节板上，左旋螺旋叶片固定在后拱泥体上，第二液压马达一端与后拱泥体相连接，另一端固定在后节板上，前拱泥体通过姿态调整机构与后拱泥体相连接。该产品采用双螺旋叶片，能同时完成拱泥、前进、支撑三个动作，姿态调整机构采用并联机构，保证了拱泥机器人在泥土中可靠转向，动力由液压马达与液压缸提供，但是该专利使用两个液压马达，存在结构和控制复杂、能耗大的缺点。Chinese patent CN 203601545U is a kind of double-helical blade arch mud robot, which is composed of: front and rear arch mud bodies, left and right spiral blades, first and second flat keys, first and second hydraulic motors, front and rear joint plates, and attitude adjustment mechanism. The right-handed helical blade is fixed on the mud body of the front arch, one end of the first hydraulic motor is connected with the mud body of the front arch, and the other end is fixed on the front segment plate, the left-handed helical blade is fixed on the mud body of the rear arch, and one end of the second hydraulic motor is It is connected with the rear arch mud body, and the other end is fixed on the rear joint plate, and the front arch mud body is connected with the rear arch mud body through an attitude adjustment mechanism. The product adopts double helical blades, which can complete three actions of arching mud, advancing and supporting at the same time. The attitude adjustment mechanism adopts a parallel mechanism to ensure reliable steering of the mud arching robot in the soil. The use of two hydraulic motors has the disadvantages of complex structure and control and high energy consumption.
发明内容Contents of the invention
本发明的目的就是为了克服上述现有技术存在的缺陷而提供一种蠕动钻地机器人，结构简单，能够实现在地下自推进和调整方向，为日后通过携带传感器深入土壤进行地质勘探、矿难搜索救援或采集土壤样本等任务提供了很好的平台。The purpose of the present invention is to provide a peristaltic ground-drilling robot in order to overcome the above-mentioned defects in the prior art. Or collect soil samples and other tasks provide a good platform.
本发明的目的可以通过以下技术方案来实现：The purpose of the present invention can be achieved through the following technical solutions:
一种蠕动钻地机器人，包括电动推杆机构和钻头机构，还包括电机转向机构，电动推杆机构、电机转向机构和钻头机构依次连接，所述电动推杆机构和钻头机构的外壁上均分别设有一用于张开和收缩的鳞片装置，电动推杆机构周期伸缩，鳞片装置在土体力的作用下张开或收缩，用于提供钻进方向的支撑反力，电机转向机构调节钻头机构的转向。A peristaltic earth-drilling robot, comprising an electric push rod mechanism and a drill mechanism, and also includes a motor steering mechanism, the electric push rod mechanism, the motor steering mechanism and the drill mechanism are connected in sequence, and the outer walls of the electric push rod mechanism and the drill mechanism are respectively There is a scale device for opening and contracting. The electric push rod mechanism expands and contracts periodically. The scale device expands or contracts under the action of soil force to provide support and reaction force in the drilling direction. The motor steering mechanism adjusts the position of the drill mechanism. turn.
所述鳞片装置包括依次设置的张开阻挡件、转动轴和收缩阻挡件，所述转动轴上设有多个用于张开和收缩的鳞片。The scale device includes an expansion stopper, a rotation shaft and a contraction stopper arranged in sequence, and a plurality of scales for expansion and contraction are arranged on the rotation shaft.
所述鳞片的表面为平面或者具有弧度的曲面。The surface of the scales is a plane or a curved surface with radians.
所述电动推杆机构包括电动推杆安装壳和用于伸缩的电动推杆，所述电动推杆的末端固定于电动推杆安装壳的内腔，电动推杆的顶端连接电机转向机构，所述鳞片装置设于电动推杆安装壳外壁的末端。The electric push rod mechanism includes an electric push rod installation shell and a telescopic electric push rod, the end of the electric push rod is fixed in the inner cavity of the electric push rod installation shell, and the top end of the electric push rod is connected to the motor steering mechanism, so The scale device is arranged at the end of the outer wall of the electric push rod installation shell.
所述电动推杆机构的末端设有传感器搭载腔。The end of the electric push rod mechanism is provided with a sensor mounting cavity.
所述电机转向机构包括电机安装壳和步进行星减速电机，所述电机安装壳的末端通过固定支座连接电动推杆机构，所述步进行星减速电机固定于电机安装壳的内腔，并通过联轴器连接钻头机构。The motor steering mechanism includes a motor installation shell and a stepping planetary gear motor, the end of the motor mounting shell is connected to the electric push rod mechanism through a fixed support, the stepping star gear motor is fixed in the inner cavity of the motor mounting shell, and The drill mechanism is connected by a coupling.
所述电机安装壳与钻头机构之间的两个接触面为斜面，两个接触面之间设有用于传动的推力轴承。The two contact surfaces between the motor mounting shell and the drill mechanism are inclined surfaces, and a thrust bearing for transmission is arranged between the two contact surfaces.
所述钻头机构包括第一传动杆件、第二传动杆件和钻头，所述第一传动杆件的顶端连接第二传动杆件的末端，末端连接电机转向机构，所述第二传动杆件的顶端连接钻头的内腔，所述鳞片装置设于钻头外壁的末端。The drill mechanism includes a first transmission rod, a second transmission rod and a drill bit, the top of the first transmission rod is connected to the end of the second transmission rod, and the end is connected to the motor steering mechanism, and the second transmission rod The top end of the drill bit is connected to the inner cavity of the drill bit, and the scale device is arranged at the end of the outer wall of the drill bit.
所述第一传动杆件的顶端通过双节万向节连接第二传动杆件的末端。The top end of the first transmission rod is connected to the end of the second transmission rod through a double universal joint.
所述电动推杆机构和电机转向机构之间安装用于密封的波纹管。A bellows for sealing is installed between the electric push rod mechanism and the motor steering mechanism.
本发明由电动推杆提供在土壤中钻进的动力，当电动推杆伸出时，一方面，电动推杆安装壳及其附件向后运动，此时电动推杆安装壳上的鳞片在土壤的作用下，绕着转动轴转动，逐渐张开，最后抵在张开阻挡件上，电动推杆机构的鳞片装置呈完全张开状态，另一方面，电机安装壳及钻头机构向前运动，钻头上的鳞片在土壤的作用下，绕着转动轴转动，逐渐收缩，最后抵在收缩阻挡件上，钻头机构的鳞片装置呈收缩状态，大大减小了钻地机器人前进时的阻力，这样，电动推杆在伸出的过程中，电动推杆安装壳及其附件向后运动的阻力逐渐增大，最后鳞片卡阻于土壤之中，提供钻地机器人钻进破解土壤时的支撑反力，电机安装壳及钻头部分向前运动的阻力逐渐减小，有利于钻头破解土壤不断钻进。同理，电动推杆收缩时，一方面，电动推杆安装壳及其附件向前运动，电动推杆安装壳上的鳞片装置在土壤的作用下逐渐收缩，不断减小其向前运动的阻力，另一方面，电机安装壳及钻头机构向后运动，钻头上的鳞片装置逐渐展开，最后卡阻于土壤中，阻碍其向后运动。蠕动钻地机器人通过电动推杆不断的伸缩运动，配合鳞片装置的张开或收缩，获得在土壤中蠕动钻进的效果。In the present invention, the power for drilling in the soil is provided by the electric push rod. When the electric push rod is stretched out, on the one hand, the electric push rod installation shell and its accessories move backwards. At this time, the scales on the electric push rod installation shell are in the soil Under the action of the rotating shaft, it rotates around the rotating shaft, gradually opens, and finally touches the opening stopper. The scale device of the electric push rod mechanism is fully opened. On the other hand, the motor mounting shell and the drill mechanism move forward. Under the action of the soil, the scales on the drill bit rotate around the axis of rotation, shrink gradually, and finally touch the shrinkage stopper. The scale device of the drill bit mechanism is in a contracted state, which greatly reduces the resistance of the earth-drilling robot when it advances. In this way, During the extension process of the electric push rod, the resistance of the electric push rod installation shell and its accessories to the backward movement gradually increases, and finally the scales are stuck in the soil, providing the supporting reaction force when the earth-drilling robot drills into the soil, The resistance to the forward movement of the motor mounting shell and the drill bit gradually decreases, which is beneficial for the drill bit to crack the soil and drill continuously. In the same way, when the electric push rod shrinks, on the one hand, the electric push rod installation shell and its accessories move forward, and the scale device on the electric push rod installation shell shrinks gradually under the action of the soil, continuously reducing its forward movement resistance On the other hand, the motor mounting shell and the drill bit mechanism move backwards, and the scale device on the drill bit gradually unfolds, and finally gets stuck in the soil, hindering its backward movement. The peristaltic ground-drilling robot achieves the effect of peristaltic drilling in the soil through the continuous telescopic movement of the electric push rod, and the expansion or contraction of the scale device.
与现有技术相比，本发明具有以下优点：Compared with the prior art, the present invention has the following advantages:
1)本发明通过电动推杆与鳞片装置的配合，实现钻地机器人的蠕动前进，而鳞片装置的张开和收缩无需专门的动力机构进行驱动，这使得钻地机器人的结构更加简单，利于机构内的布线及密封等，同时相比液动或气动的动力源，电动推杆提供稳定、恒定的推力；1) The present invention realizes the peristaltic advancement of the earth-drilling robot through the cooperation of the electric push rod and the scale device, and the expansion and contraction of the scale device do not need to be driven by a special power mechanism, which makes the structure of the earth-drilling robot simpler and facilitates the mechanism Internal wiring and sealing, etc. At the same time, compared with hydraulic or pneumatic power sources, electric push rods provide stable and constant thrust;
2)本发明中鳞片装置的形状尺寸可有不同，鳞片主体是可绕转动轴转动的片状物，鳞片表面可以是平面或者是具有一定弧度的曲面等等，从而保证鳞片张开时可以提供足够的支撑反力，同时曲面可以减少与土体的阻力，便于收缩，从而实现钻地机器人的钻进；2) The shape and size of the scale device in the present invention can be different. The scale body is a sheet that can rotate around the rotation axis. The surface of the scale can be a plane or a curved surface with a certain radian, etc., so as to ensure that the scale can provide enough water when it is opened. Support the reaction force, and at the same time, the curved surface can reduce the resistance with the soil and facilitate shrinkage, so as to realize the drilling of the earth-drilling robot;
3)本发明在电动推杆安装壳和电机安装壳之间安装波纹管，可以起到密封作用，避免土壤进入钻地机器人内部，结构可靠；3) In the present invention, a bellows is installed between the electric push rod installation shell and the motor installation shell, which can play a sealing role and prevent soil from entering the interior of the earth-drilling robot, and the structure is reliable;
4)本发明中电机安装壳和钻头之间的接触平面为一斜面，即此平面的法线与电机安装壳的轴线具有一定角度，两接触面通过推力轴承传动，当二者发生转动时，钻头轴心线与电机安装壳轴心线之间的角度将发生变化，通过控制步进行星减速电机的转动角度便可调整钻头的转向姿态，克服现有技术不具有转向功能的缺陷，实现调整钻进方向，实用性强；4) The contact plane between the motor mounting shell and the drill bit in the present invention is an inclined plane, that is, the normal line of this plane has a certain angle with the axis of the motor mounting shell, and the two contact surfaces are driven by thrust bearings. When the two rotate, The angle between the axis line of the drill bit and the axis line of the motor mounting shell will change, and the steering posture of the drill bit can be adjusted by controlling the rotation angle of the step star gear motor, which overcomes the defect that the existing technology does not have a steering function and realizes adjustment Drilling direction, strong practicability;
2)本发明结构简单，造价低廉，控制方便，在电动推杆安装壳尾部设置有传感器搭载腔，便于搭载探地雷达、通信装置等，适用于松软土壤环境中执行地质勘探、矿难救援搜索等任务，具有广阔的应用前景。2) The present invention is simple in structure, low in cost, and convenient in control. A sensor mounting cavity is provided at the tail of the electric push rod mounting shell, which is convenient for carrying ground penetrating radar, communication devices, etc., and is suitable for performing geological exploration, mine disaster rescue and search, etc. in soft soil environments task and has broad application prospects.
附图说明Description of drawings
图1为本发明的外观示意图；Fig. 1 is the appearance schematic diagram of the present invention;
图2为本发明的剖视图；Fig. 2 is a sectional view of the present invention;
图3为本发明鳞片装置的示意图；Fig. 3 is the schematic diagram of scale device of the present invention;
图4为本发明鳞片装置中鳞片的示意图；Fig. 4 is the schematic diagram of the scale in the scale device of the present invention;
图5为本发明钻进过程的示意图；Fig. 5 is the schematic diagram of the drilling process of the present invention;
图6为本发明转向时的示意图。Fig. 6 is a schematic diagram of the present invention when turning.
图中：1、传感器搭载腔，2、第一紧定销钉，3、电动推杆安装壳，4、电动推杆，5、第二紧定销钉，6、固定支座，7、电机安装壳，8、推力轴承，9、联轴器，10、第一传动杆件，11、双节万向节，12、第二传动杆件，13、钻头，14、步进行星减速电机，15、张开阻挡件，16、转动轴，17、鳞片，18、收缩阻挡件。In the figure: 1. Sensor mounting chamber, 2. First set pin, 3. Electric push rod mounting shell, 4. Electric push rod, 5. Second set pin, 6. Fixed support, 7. Motor mounting shell , 8. Thrust bearing, 9. Coupling, 10. The first transmission rod, 11. Double joint universal joint, 12. The second transmission rod, 13. Drill bit, 14. Stepping planetary gear motor, 15. Open stopper, 16, rotating shaft, 17, scale, 18, contraction stopper.
具体实施方式Detailed ways
下面结合附图和具体实施例对本发明进行详细说明。本实施例以本发明技术方案为前提进行实施，给出了详细的实施方式和具体的操作过程，但本发明的保护范围不限于下述的实施例。The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is carried out on the premise of the technical solution of the present invention, and detailed implementation and specific operation process are given, but the protection scope of the present invention is not limited to the following embodiments.
如图1、图2所示，一种蠕动钻地机器人包括电动推杆机构、电机转向机构、钻头机构，电动推杆机构包括电动推杆安装壳3、用于伸缩的电动推杆4和第一鳞片装置，电子转向机构包括电机安装壳7和步进行星减速电机14，钻头机构包括第一传动杆件10、第二传动杆件12、钻头13和第二鳞片装置。其连接关系为：As shown in Figure 1 and Figure 2, a peristaltic earth-drilling robot includes an electric push rod mechanism, a motor steering mechanism, and a drill bit mechanism. The electric push rod mechanism includes an electric push rod installation shell 3, an electric push rod 4 for telescopic and A scale device, the electronic steering mechanism includes a motor mounting shell 7 and a stepping star reduction motor 14, and the drill mechanism includes a first transmission rod 10, a second transmission rod 12, a drill bit 13 and a second scale device. Its connection relationship is:
电动推杆4的基座安置于电动推杆安装壳3内，并通过第一紧定销钉2固定，电动推杆4可作伸缩运动，电动推杆4的顶端通过第二紧定销钉5连接于固定支座6上，固定支座6与电机安装壳7通过螺栓连接，电机安装壳7内安装有步进行星减速电机14，步进行星减速电机14通过联轴器9与第一传动杆件10连接，第一传动杆件10通过双节万向节11与第二传动杆件12连接，第二传动杆件12通过螺钉与钻头13固定连接，钻头13与电机安装壳7之间通过推力轴承8传动，电动推杆安装壳3的外壁上安装有第一鳞片装置，钻头13的外壁上安装有第二鳞片装置。The base of the electric push rod 4 is placed in the electric push rod installation shell 3, and is fixed by the first fastening pin 2, the electric push rod 4 can perform telescopic movement, and the top of the electric push rod 4 is connected by the second fastening pin 5 On the fixed support 6, the fixed support 6 and the motor installation shell 7 are connected by bolts. The stepping star gear motor 14 is installed in the motor mounting shell 7, and the step star gear motor 14 is connected to the first transmission rod through the coupling 9. The first transmission rod 10 is connected with the second transmission rod 12 through the double joint universal joint 11, the second transmission rod 12 is fixedly connected with the drill bit 13 through screws, and the drill bit 13 and the motor installation shell 7 pass through Thrust bearing 8 drives, and the outer wall of electric push rod mounting shell 3 is equipped with first scale device, and the outer wall of drill bit 13 is equipped with second scale device.
如图3所示，第一鳞片装置和第二鳞片装置均由若干鳞片17、转动轴16、张开阻挡件15、收缩阻挡件18构成，在张开阻挡件15和收缩阻挡件18限定的范围内，鳞片17可绕着转动轴16转动。在土壤的作用下，当鳞片装置处于收缩状态时，鳞片17抵在收缩阻挡件18上，大大减小了蠕动钻地机器人前进时的阻力当，鳞片17抵在收缩阻挡件18上时，鳞片17与电动推杆安装壳3或钻头13的轴心线具有一定的角度，这样在进入下一运动阶段时，鳞片17便于在土壤的作用下进入张开状态；当鳞片装置处于张开状态时，鳞片17张开并抵在张开阻挡件15上，鳞片17在钻地机器人运动方向上具有较大的投影面积，可以提供钻机机器人钻进时的支撑反力。As shown in Figure 3, the first scale device and the second scale device are all made up of several scales 17, rotating shaft 16, expansion stopper 15, contraction stopper 18, limit between expansion stopper 15 and contraction stopper 18. Within the range, the scales 17 can rotate around the rotation shaft 16. Under the action of the soil, when the scale device is in a shrinking state, the scales 17 are against the shrinkage stopper 18, which greatly reduces the resistance when the creeping earth-boring robot advances. When the scales 17 are against the shrinkage stopper 18, the scales 17 has a certain angle with the axis line of the electric push rod installation shell 3 or the drill bit 13, so that when entering the next stage of motion, the scales 17 are convenient to enter the open state under the action of the soil; when the scale device is in the open state , the scales 17 are opened and abut against the opening stopper 15, and the scales 17 have a larger projected area in the direction of movement of the earth-drilling robot, which can provide the supporting reaction force when the drilling robot drills.
鳞片装置的形状尺寸可有不同。鳞片17主体是可绕转动轴16转动的片状物，鳞片17表面可以是平面或者是具有一定弧度的曲面等等，其中，行进方向上设置光滑曲面，可以减小阻力，曲面的弧度根据行进过程具体设置，如图4所示，图3中鳞片17为六个，均布在电动推杆安装壳3和钻头13的外壁上，其张开时提供一个稳定的、沿整个钻地机器人中心轴方向的支撑反力，保证行进方向稳定，另外，电动推杆4的行程也可以根据实际效果进行调整，这些参数对机器人钻进时的力学性能都有影响。The shape and size of the scale device can vary. The main body of the scale 17 is a sheet that can rotate around the rotating shaft 16. The surface of the scale 17 can be a plane or a curved surface with a certain curvature, etc., wherein a smooth curved surface is set in the direction of travel, which can reduce resistance. The specific setting of the process, as shown in Figure 4, in Figure 3, there are six scales 17, which are evenly distributed on the outer wall of the electric push rod installation shell 3 and the drill bit 13, and provide a stable position along the central axis direction of the entire earth-drilling robot when it is opened. The supporting reaction force ensures a stable direction of travel. In addition, the stroke of the electric push rod 4 can also be adjusted according to the actual effect. These parameters have an impact on the mechanical properties of the robot when drilling.
步进行星减速电机14的驱动实现钻地机器人的转向，如图6所示，步进行星减速电机14、联轴器9、第一传动杆件10、双节万向节11、第二传动杆件12和钻头13依次连接，而电机安装壳7和钻头13之间的接触面为一斜面，即此接触面的法线与电机安装壳7的轴线具有一定角度α，本实施例中该角度α取15°，这样钻头13实际可转动范围为0-30°，两接触面通过推力轴承8传动，当二者发生转动时，钻头13轴心线与电机安装壳7轴心线之间的角度将发生变化，通过控制步进行星减速电机14的转动角度便可调整钻头13的转向姿态，其中，角度α根据实际效果在0-45°范围内进行调整，即钻头13在0-90°范围内调整(钻头13转动范围与角度α成两倍关系)。The drive of the stepper planetary gear motor 14 realizes the steering of the earth-drilling robot. The rod 12 and the drill bit 13 are connected sequentially, and the contact surface between the motor mounting shell 7 and the drill bit 13 is an inclined plane, that is, the normal line of this contact surface has a certain angle α with the axis of the motor mounting shell 7. In this embodiment, the The angle α is 15°, so that the actual rotatable range of the drill bit 13 is 0-30°. The angle of the drill bit 13 will change, and the steering attitude of the drill bit 13 can be adjusted by controlling the rotation angle of the star gear motor 14, wherein, the angle α is adjusted in the range of 0-45° according to the actual effect, that is, the drill bit 13 is in the range of 0-90° Adjust in ° scope (drill bit 13 rotational ranges and angle α become twice relation).
上述钻地机器人由电动推杆4提供在土壤中钻进的动力，电动推杆4周期性伸缩，如图5所示，一个周期的工作工程包括：The above-mentioned ground-drilling robot is powered by the electric push rod 4 to drill in the soil, and the electric push rod 4 expands and contracts periodically, as shown in Figure 5, a cycle of work includes:
a)最大伸出状态：电动推杆4由初始状态伸出到最大伸出状态，一方面，电动推杆安装壳3及其附件向后运动，此时电动推杆安装壳3上的鳞片17在土壤的作用下，绕着转动轴16转动，逐渐张开，最后抵在张开阻挡件15上，第一鳞片装置呈完全张开状态，另一方面，电机安装壳7及钻头13向前运动，钻头13上的鳞片17在土壤的作用下，绕着转动轴16转动，逐渐收缩，最后抵在收缩阻挡件18上，第二鳞片装置呈收缩状态，大大减小了钻地机器人前进时的阻力，这样，电动推杆4在伸出的过程中，电动推杆安装壳3及其附件向后运动的阻力逐渐增大，最后第一鳞片装置卡阻于土壤之中，提供钻地机器人钻进破解土壤时的支撑反力，第二鳞片装置逐渐收缩，电机安装壳7及钻头13部分向前运动的阻力逐渐减小，有利于钻头13破解土壤不断钻进。a) Maximum extension state: the electric push rod 4 extends from the initial state to the maximum extension state. On the one hand, the electric push rod installation shell 3 and its accessories move backward. At this time, the scales 17 on the electric push rod installation shell 3 Under the action of the soil, it rotates around the rotating shaft 16, gradually opens, and finally leans against the opening stopper 15, and the first scale device is in a fully opened state. On the other hand, the motor mounting shell 7 and the drill bit 13 move forward. Movement, the scales 17 on the drill bit 13 rotate around the rotating shaft 16 under the action of the soil, gradually shrink, and finally touch the shrinkage stopper 18, and the second scale device is in a contracted state, which greatly reduces the time when the earth-boring robot advances. In this way, during the extension process of the electric push rod 4, the resistance to the backward movement of the electric push rod installation shell 3 and its accessories gradually increases, and finally the first scale device is stuck in the soil, providing the earth-boring robot The support reaction force when drilling into the cracked soil, the second scale device shrinks gradually, the resistance of the motor mounting shell 7 and the drill bit 13 moving forward gradually reduces, which is conducive to the drill bit 13 cracking the soil and constantly drilling.
b)收缩动作：电动推杆4收缩时，一方面，电动推杆安装壳3及其附件向前运动，第一鳞片装置在土壤的作用下逐渐收缩，不断减小其向前运动的阻力，另一方面，电机安装壳7及钻头13向后运动，第二鳞片装置逐渐展开。b) Shrinking action: when the electric push rod 4 shrinks, on the one hand, the electric push rod installation shell 3 and its accessories move forward, and the first scale device gradually shrinks under the action of the soil, continuously reducing its forward movement resistance, On the other hand, the motor mounting case 7 and the drill bit 13 move backward, and the second scale device is gradually launched.
c)最大收缩状态：此时，第一鳞片装置的鳞片17收缩并抵住收缩阻挡件18，第二鳞片装置的鳞片17张开并抵住张开阻挡件15，卡阻于土壤中，阻碍其向后运动。c) Maximum contraction state: At this time, the scales 17 of the first scale device shrink and resist the shrinkage stopper 18, and the scales 17 of the second scale device open and resist the expansion stopper 15, and are stuck in the soil, hindering It moves backwards.
d)伸出动作：电动推杆4伸出时，同a)，第一鳞片装置的鳞片17逐渐张开，第二鳞片装置的鳞片17逐渐收缩。d) Extending action: when the electric push rod 4 is extended, the same as a), the scales 17 of the first scale device gradually open, and the scales 17 of the second scale device gradually shrink.
e)最大伸出状态：最后同a)的最大伸出状态，完成一个周期的钻进，钻进距离为S，综上，蠕动钻地机器人通过电动推杆4不断的伸缩运动，配合鳞片装置的张开或收缩，获得在土壤中蠕动钻进的效果。e) Maximum extension state: Finally, the same as the maximum extension state in a), complete a cycle of drilling, and the drilling distance is S. In summary, the peristaltic earth-drilling robot continuously expands and contracts through the electric push rod 4, and cooperates with the scale device The expansion or contraction of the drill can achieve the effect of creeping in the soil.
在电动推杆安装壳3和电机安装壳7之间安装波纹管，可以起到密封作用，避免土壤进入钻地机器人内部。A bellows is installed between the electric push rod installation shell 3 and the motor installation shell 7, which can play a sealing role and prevent soil from entering the interior of the earth-drilling robot.
在电动推杆安装壳3尾部设置有传感器搭载腔1，便于搭载探地雷达、通信装置等，为日后通过携带传感器深入土壤进行地质勘探、矿难搜索救援或采集土壤样本等任务提供了很好的平台。A sensor carrying cavity 1 is provided at the tail of the electric push rod installation shell 3, which is convenient for carrying ground penetrating radar, communication devices, etc., and provides a good solution for carrying sensors deep into the soil for geological exploration, mining disaster search and rescue, or collecting soil samples in the future. platform.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510046831.7ACN104727749B (en) | 2015-01-29 | 2015-01-29 | Peristaltic Drilling Robot |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510046831.7ACN104727749B (en) | 2015-01-29 | 2015-01-29 | Peristaltic Drilling Robot |
| Publication Number | Publication Date |
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| CN104727749Atrue CN104727749A (en) | 2015-06-24 |
| CN104727749B CN104727749B (en) | 2016-10-19 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510046831.7AExpired - Fee RelatedCN104727749B (en) | 2015-01-29 | 2015-01-29 | Peristaltic Drilling Robot |
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| CN (1) | CN104727749B (en) |
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